A wall-climbing robot with somersault based on an epicyclic gear train

Abstract

The present invention discloses a wall-climbing robot that can somersault based on an epicyclic gear train, and relates to the field of robot technology. The present invention includes a leg mechanism 1 and a leg mechanism 2, wherein a large gear 1 is fixedly installed on the top of the leg mechanism 1, a large gear 2 is fixedly installed on the top of the leg mechanism 2, a steering gear 3 is installed at the center of the large gear 2, and the output end of the steering gear 3 passes through the large gear 2 and is fixedly connected to a connecting rod 2. In the present invention, the robot can move on the wall by somersaulting through the mutual cooperation of the large gear 1, the large gear 2, the steering gear 3 and other structures, and at the same time, the robot can also have the functions of leg extension and twisting by using the telescopic components and the rotating components, providing a new solution for vertical high-altitude surface movement and wall transition, which not only has the adaptability to a variety of application scenarios, but also improves the operating efficiency of the wall-climbing robot.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a somersault wall-climbing robot based on an epicyclic gear train. Background Art

[0002] A wall-climbing robot refers to an electromechanical system that can attach to the surface of an object, move with multiple degrees of freedom, and complete tasks. It is particularly suitable for performing special tasks and is widely used in many fields, such as cleaning building exterior walls, repairing aircraft hulls, and inspecting large oil and gas tanks. In the application scenarios of wall-climbing robots, the wall structure is often complex. In order to expand the scope of use of the robot, the robot needs to have the ability to cross different walls. To this end, we propose a somersault wall-climbing robot based on an epicyclic gear train. Summary of the invention

[0003] The purpose of the present invention is to provide a somersault wall-climbing robot based on an epicyclic gear train to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wall-climbing robot with somersaults based on an epicyclic gear train, comprising a leg mechanism 1 and a leg mechanism 2, wherein a large gear 1 is fixedly mounted on the top of the leg mechanism 1, a large gear 2 is fixedly mounted on the top of the leg mechanism 2, a steering gear 3 is mounted at the center of the large gear 2, an output end of the steering gear 3 passes through the large gear 2 and is fixedly connected to a connecting rod 2, and the other end of the connecting rod 2 is rotatably connected to the center of the large gear 1, so as to realize that the large gear 1 rotates around the large gear 2 while revolving;

[0005] The leg mechanism 1 includes an adjustment component, a telescopic component and an adsorption component 1, the adjustment component is used to achieve angle transformation of the leg mechanism 1, and the telescopic adjustment is used to achieve overall telescopic transformation of the leg mechanism 1;

[0006] The leg mechanism 2 includes a vacuum control component, a rotating component and an adsorption component 2. The vacuum control component is used to unlock and fix the adsorption component 1 and the adsorption component 2, and the rotating component is used to realize the rotation adjustment of the adsorption component 2.

[0007] Furthermore, the large gear 1 and the large gear 2 are meshed with each other, and a servo connecting piece 2 is installed on the side wall of the large gear 2, and the servo 3 is installed on the large gear 2 through the servo connecting piece 2.

[0008] Furthermore, the telescopic assembly includes a leg connecting member 1 fixedly connected to a large gear 1, a leg telescopic member is slidably connected inside the leg connecting member 1, a rack is fixedly installed on the leg telescopic member by bolts, one side of the rack is meshingly connected to a telescopic driving gear, and the telescopic driving gear is rotatably connected to the inner wall of the leg connecting member 1.

[0009] Furthermore, a servo motor 2 is fixedly connected to the side wall of the leg connecting member 1, and an output end of the servo motor 2 is fixedly connected to the telescopic driving gear.

[0010] Furthermore, a through hole adapted to the rack is provided on the side wall of the leg connecting member.

[0011] Further, the adjustment assembly includes a pinion 2 fixed by bolts below the leg telescopic member, a pinion 1 meshingly connected below the pinion 2, a steering gear 1 installed at the center of the pinion 1, a connecting rod 1 fixedly connected to the output end of the steering gear 1, one end of the connecting rod 1 is rotatably connected to the center of the pinion 1, and the other end is rotatably connected to the center of the pinion 2, when the steering gear 1 drives the connecting rod 1 to rotate, the pinion 1 will revolve and rotate around the pinion 2;

[0012] A servo connecting piece 1 is installed on the side wall of the pinion gear 1 through bolts, and the servo gear 1 is installed on the pinion gear 1 through the servo connecting piece 1.

[0013] Furthermore, the adsorption assembly 1 includes a foot shell 1 fixedly mounted on a pinion 1 by bolts, and a suction cup 1 is coaxially mounted inside the foot shell 1.

[0014] Furthermore, the rotating assembly includes a leg connecting member 2 fixed on a large gear 2, a servo 4 is installed below the leg connecting member 2, a leg rotating member is installed at the output end of the servo 4, and the bottom of the leg rotating member is connected to the adsorption assembly 2.

[0015] Furthermore, the second adsorption component includes a second foot shell installed at the bottom of the leg rotating member through bolts, and a second suction cup is coaxially installed inside the second foot shell.

[0016] Furthermore, the vacuum assembly includes a vacuum air pump and two solenoid valves fixedly connected to the two side walls of the leg connector, and the air pump is connected to the suction cup one and the suction cup two through a pipeline.

[0017] The present invention has at least the following beneficial effects:

[0018] The present invention provides a new solution for vertical high-altitude surface movement and wall transition, which not only has adaptability to a variety of application scenarios, but also improves the operating efficiency of the wall-climbing robot.

[0019] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A front view schematic diagram of the overall structure of the present invention

[0021] Figure 2 The rear view schematic diagram of the overall structure of the present invention is

[0022] Figure 3 A cross-sectional schematic diagram of a leg mechanism 1 of the present invention

[0023] Figure 4 A cross-sectional schematic diagram of the leg mechanism 2 of the present invention

[0024] Figure 5 Schematic diagram of the forward motion of the wall-climbing robot flipping on the ground according to the present invention

[0025] Figure 6 Schematic diagram of vertical wall transition motion of the flip wall climbing robot of the present invention

[0026] Figure 7 Schematic diagram of the transitional motion of the wall-climbing robot of the present invention

[0027] Figure 8 Schematic diagram of the flip wall climbing robot of the present invention transitioning from flat ground to inclined wall surface motion

[0028] Fig. 9 This is a top view schematic diagram of the somersault wall-climbing robot of the present invention changing its path direction.

[0029] Reference numerals:

[0030] 1. Suction cup 1; 2. Foot shell 1; 3. Pinion 1; 4. Pinion 2; 5. Connecting rod 1; 6. Servo 1; 7. Telescopic leg part; 8. Telescopic drive gear; 9. Servo 2; 10. Leg connector 1; 11. Rack; 12. Large gear 1; 13. Connecting rod 2; 14. Servo 3; 15. Large gear 2; 16. Vacuum air pump; 17. Solenoid valve; 18. Leg connector 2; 19. Servo 4; 20. Leg rotating part; 21. Foot shell 2; 22. Suction cup 2; 23. Servo connector 1; 24. Servo connector 2. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0032] Embodiment 1:

[0033] See also Figure 1-Figure 9 The present invention provides a technical solution: a flip wall-climbing robot based on an epicyclic gear train, comprising a leg mechanism 1 and a leg mechanism 2, wherein a large gear 12 is fixedly installed on the top of the leg mechanism 1, a large gear 2 15 is fixedly installed on the top of the leg mechanism 2, a steering gear 3 14 is installed at the center of the large gear 2 15, an output end of the steering gear 3 14 passes through the large gear 2 15 and is fixedly connected to a connecting rod 2 13, and the other end of the connecting rod 2 13 is rotatably connected to the center of the large gear 12, so as to realize that the large gear 12 rotates around the large gear 2 15 when it revolves;

[0034] The leg mechanism 1 includes an adjustment component, a telescopic component and an adsorption component 1, the adjustment component is used to realize the angle transformation of the leg mechanism 1, and the telescopic adjustment is used to realize the overall telescopic transformation of the leg mechanism 1;

[0035] The leg mechanism 2 includes a vacuum control component, a rotating component and an adsorption component 2. The vacuum control component is used to unlock and fix the adsorption component 1 and the adsorption component 2, and the rotating component is used to realize the rotation adjustment of the adsorption component 2.

[0036] According to the technical solution of this embodiment, large gear one 12 and large gear two 15 are meshed with each other, and a servo connector 2 24 is installed on the side wall of large gear two 15, and servo three 14 is installed on large gear two 15 through servo connector 24. Starting servo three 14 drives connecting rod two 13 to rotate, so that large gear one 12 can revolve around large gear two 15. Since large gear one 12 and large gear two 15 are meshed with each other, large gear one 12 will also rotate when rotating during the revolution, thereby realizing the flipping operation of leg mechanism one around leg mechanism two, which is convenient for crossing different walls or obstacles.

[0037] According to the technical solution of this embodiment, the telescopic assembly includes a leg connecting part 10 fixedly connected to a large gear 12, and the leg connecting part 10 is internally slidably connected with a leg telescopic part, and a rack 11 is fixedly installed on the leg telescopic part by bolts. A through hole matching the rack 11 is opened on the side wall of the leg connecting part to facilitate the passage of the rack 11, and one side of the rack 11 is meshedly connected with a telescopic driving gear 8, and the telescopic driving gear 8 is rotatably connected to the inner wall of the leg connecting part 10.

[0038] Furthermore, a servo 29 is fixedly connected to the side wall of the leg connecting member 10, and the output end of the servo 29 is fixedly connected to the telescopic driving gear 8. Starting the servo 29 drives the telescopic driving gear 8 to rotate, which will drive the rack 11 to move up and down along the leg connecting member 10, thereby driving the leg telescopic member and the adjustment component and adsorption component installed thereunder to move up and down together, so that the overall length of the leg mechanism 1 can be adjusted according to actual conditions.

[0039] According to the technical solution of this embodiment, the adjustment component includes a pinion 24 fixed by bolts below the leg telescopic member, a pinion 3 is meshedly connected below the pinion 24, a steering gear 6 is installed at the center of the pinion 3, a connecting rod 5 is fixedly connected to the output end of the steering gear 6, one end of the connecting rod 5 is rotatably connected to the center of the pinion 3, and the other end is rotatably connected to the center of the pinion 24. When the steering gear 6 drives the connecting rod 5 to rotate, the pinion 3 will revolve and rotate around the pinion 24;

[0040] A servo connection piece 23 is installed on the side wall of the pinion gear 3 by bolts, and the servo gear 6 is installed on the pinion gear 3 through the servo connection piece 23. Starting the servo gear 6 to drive the connecting rod 5 to rotate will drive the pinion gear 3 to revolve around the pinion gear 24. Since the pinion gear 3 and the pinion gear 24 are meshed with each other, the pinion gear 3 will also rotate during the revolution, thereby driving the adsorption component 1 to adjust the deflection of the foot end to adapt to the wall with different inclination angles.

[0041] According to the technical solution of this embodiment, the rotating assembly includes a leg connecting member 2 18 fixed on a large gear 2 15, a servo 4 19 is installed below the leg connecting member 2 18, a leg rotating member 20 is installed at the output end of the servo 4 19, and the bottom of the leg rotating member 20 is connected to the adsorption assembly 2. Starting the servo 4 19 drives the leg rotating member 20 to rotate, so that the leg mechanism 1 can be rotated and adjusted around the center of the leg mechanism 2, thereby adjusting different fixed positions.

[0042] According to the technical solution of this embodiment, the adsorption assembly 1 includes a foot shell 1 2 fixedly mounted on a pinion 1 3 by bolts, and a suction cup 1 is coaxially mounted inside the foot shell 1 2;

[0043] The second suction assembly includes a second foot shell 2121 installed at the bottom of the leg rotating member 20 by bolts, and a second suction cup 22 is coaxially installed inside the second foot shell 2121;

[0044] The vacuum assembly includes a vacuum air pump 16 fixedly connected to the side wall of the leg connector 18 and two solenoid valves 17. The solenoid valve 17 is set as a vacuum solenoid valve 17. The air pump is connected to the suction cup 1 and the suction cup 2 through a pipeline. When the vacuum solenoid valve 17 is energized, the air inlet and the exhaust hole thereon are connected. At this time, the internal air pressure of the suction cup 1 or the suction cup 2 will be equal to the external atmospheric pressure. At this time, the suction cup 1 or the suction cup 2 will be unlocked and released from the wall. When the vacuum solenoid valve 17 is powered off, the air inlet and the exhaust hole are closed, and the air in the suction cup 1 or the suction cup 2 is evacuated by the vacuum air pump 16 to generate negative pressure inside the suction cup 1 or the suction cup 2, so that the suction cup 1 or the suction cup 2 can be fixed on the wall.

[0045] Next, the present invention will be further described in conjunction with specific embodiments:

[0046] Embodiment 2:

[0047] Figure 5 FIG. 1 is a schematic diagram of the somersault wall-climbing robot's forward somersault on flat ground. First, the vacuum control component is used to generate negative pressure in the suction cup 1, so that the leg mechanism 1 is vertically fixed on the wall. Since the large gear 12 is fixed to the leg connector 10 by bolts and nuts, the large gear 12 is locked and cannot rotate. At this time, the steering gear 3 14 is started to drive the connecting rod 2 13 to rotate 180° clockwise, so that the large gear 2 15 can revolve around the large gear 12. Due to the mutual meshing of the gears, the large gear 2 15 will rotate on its own, so that the leg mechanism 2 can move from the left to the right, and a movement similar to a "somersault" can occur.

[0048] Embodiment three:

[0049] Figure 6 Schematic diagram of the transitional motion of the somersault wall-climbing robot on the vertical wall. In the initial state, the robot is stationary on the plane by the pressure adsorption of the suction cup 1 and the suction cup 2 22, and then the vacuum solenoid valve 17 is started to energize it, the air inlet and the exhaust hole are connected, and the inner cavity of the suction cup 1 is connected to the atmosphere to be unlocked and released. At this time, the leg mechanism 1 of the robot is also unlocked and released, and then the steering gear 3 14 is started to drive the connecting rod 2 13 to rotate clockwise by ɑ degrees, driving the leg mechanism 1 of the robot to lift up, and at the same time, the steering gear 16 is started to drive the connecting rod 15 to rotate clockwise by 90-ɑ degrees, so that the small gear 13 drives the robot foot shell 2 to rotate to vertically fit the wall, and then the vacuum solenoid valve 17 is disconnected. Electricity is supplied and the air in the suction cup 1 is sucked out, the robot leg structure 1 will be fixed on the vertical wall, and then the leg structure 2 is unlocked and released by releasing the suction cup 22, and the connecting rod 5 is driven to rotate counterclockwise by starting the steering gear 6, so that the leg structure 2 is lifted up and off the ground, and then the steering gear 6 is driven to make the center of the large gear 12 and the center of the suction cup 1 colinear, and the leg structure 1 is vertically fixed to the wall, and at the same time, the steering gear 6 is started to make the suction cup 22 vertically close to the wall, and then the vacuum control component is used to draw a vacuum in the suction cup 22, so that the whole robot can be vertically fixed on the wall, completing the transition movement from the plane to the vertical wall.

[0050] Embodiment 4:

[0051] Figure 7Schematic diagram of the transitional motion of the upper and lower wall surfaces of the somersault wall-climbing robot. In the initial state, the robot is stationary and adsorbed on the upper wall surface. At this time, the vacuum solenoid valve 17 controlling the leg mechanism one is energized, and the adsorption of the suction cup 1 fails, so that the leg mechanism one of the robot is unlocked. At this time, the servo three 14 is started to drive the connecting rod 2 13 to rotate 180° counterclockwise, driving the leg mechanism one of the robot to somersault to the other side, and at the same time, the servo two 9 is driven to drive the telescopic driving gear 8 to rotate counterclockwise. Since the telescopic driving gear 8 and the rack 11 are meshed with each other, the leg mechanism one of the robot will move downward with the rack 11, and the direction is perpendicular to the wall and vertically downward. At this time, the leg mechanism of the robot begins to extend, and then the servo one 6 is started to drive the connecting rod one 5 to rotate 90° counterclockwise, and the small gear two 4 will revolve and rotate around the small gear, driving the suction cup one 1 at the foot end of the leg mechanism one to vertically adhere to the lower wall surface, and then the vacuum solenoid valve 17 controlling the leg mechanism one is de-energized, and the suction cup one 1 is vacuumed and adsorbed on the wall surface, the leg mechanism one is fixed, and then the leg mechanism is controlled The vacuum solenoid valve 17 of the second leg is energized, so that the suction cup 22 fails to adsorb, and the leg mechanism 2 is released. Then the steering gear 3 14 is started to drive the connecting rod 2 13 to rotate 180 degrees counterclockwise, driving the robot leg mechanism 2 to flip to the other side. At the same time, the steering gear 1 6 drives the connecting rod 1 55 to rotate 90 degrees counterclockwise, so that the line connecting the pinion 2 4 and the pinion 1 3 is perpendicular to the lower wall surface, and the leg mechanism 1 of the robot adsorbed on the lower wall surface restores the vertical posture, and then the steering gear 3 14 is started again to drive the connecting rod 2 13 Rotate 180° counterclockwise to drive the leg mechanism 2 to somersault until the bottom plane of the suction cup 22 is parallel to the lower wall. At this time, start the servo 2 9 to drive the telescopic drive gear 8 to rotate clockwise, so that the rack 11 drives the leg telescopic part 7 to retract until the bottom plane of the suction cup 22 coincides with the lower wall. At this time, the vacuum solenoid valve 17 controlling the leg mechanism 2 is powered off, the suction cup 22 is vacuumed and adsorbed on the wall, and the leg mechanism 2 is fixed. At this point, the robot's legs are completely still and fixed on the lower wall, completing the upper and lower wall transition movement.

[0052] Embodiment five:

[0053] Figure 8The schematic diagram of the wall-climbing robot of the present invention transitioning from flat ground to a wall surface with an inclination angle of θ is shown in FIG. The specific implementation process is as follows: the vacuum solenoid valve 17 of the leg mechanism 1 is energized, and the suction cup 11 fails to adsorb, so that the leg mechanism 1 is unlocked. At this time, the steering gear 3 14 is started to drive the connecting rod 2 13 to rotate clockwise, so that the leg mechanism 1 is lifted. Then the steering gear 16 is started to drive the connecting rod 15 to rotate counterclockwise, so that the pinion 3 drives the foot shell 2 and the suction cup 1 to rotate to vertically fit the wall surface. At this time, the vacuum solenoid valve 17 of the leg mechanism 1 is de-energized, and the suction cup 1 is vacuumed and adsorbed on the wall surface, and the leg mechanism 1 is lifted. Mechanism one is fixed, and then the servo one 6 is started again to drive the connecting rod one 5 to rotate clockwise, so that the leg mechanism one is completely perpendicular to the wall with an inclination angle of θ, and then the vacuum solenoid valve 17 controlling the leg mechanism two is energized, and the suction cup two 22 fails to adsorb, so that the leg mechanism two is unlocked. At this time, the servo three 14 is started to drive the connecting rod two 13 to rotate counterclockwise, so that the leg mechanism two climbs over to the wall perpendicular to the inclination angle of θ. At this time, the vacuum solenoid valve 17 controlling the leg mechanism two is de-energized, and the suction cup two 22 is vacuumed and adsorbed on the wall. The leg mechanism two is fixed, and the transition from flat ground to the wall with an inclination angle of θ is completed.

[0054] Embodiment six:

[0055] Fig. 9The figure is a top view of the somersault wall-climbing robot of the present invention changing the path direction, wherein the solid black dot represents the robot leg mechanism 2 with a rotating component. The specific implementation process is to first control the vacuum solenoid valve 17 of the leg mechanism 1 to be energized, and the suction cup 1 fails to adsorb, so that the leg mechanism 1 is unlocked. At this time, the servo three 14 is started to drive the connecting rod 2 13 to rotate clockwise by a small angle α, so as to drive a part of the robot leg mechanism to be lifted. At the same time, the servo four 19 in the leg connecting piece 2 18 is started to rotate the robot together with the leg mechanism 1 to the front of the leg mechanism 2, and then the output shaft of the servo three 14 is used to drive the connecting rod 2 13 to rotate counterclockwise by a small angle α, so that the suction cup 1 is attached to the wall surface, and then the vacuum solenoid valve 17 of the leg mechanism 1 is controlled to be de-energized, so that the suction cup 1 is vacuumed and adsorbed on the wall surface, and the leg mechanism 1 is fixed. Then the solenoid valve 17 of the leg mechanism 2 is controlled to be energized so that the suction cup 2 2 2 adsorption fails, the leg mechanism 2 is released, and the output shaft of the servo three 14 is used to drive the connecting rod 2 13 to rotate 180° clockwise, so that the robot flips forward, and then the solenoid valve 17 of the leg mechanism 2 is controlled to be powered off, so that the suction cup 2 22 is vacuumed and adsorbed to the wall, the leg mechanism 2 is fixed, and then the output shaft of the servo three 14 is used to drive the connecting rod 2 13 to rotate clockwise by a small angle α, so as to lift a part of the robot leg mechanism, and the servo four 19 in the leg connecting part 2 18 rotates the robot together with the leg mechanism 1 to be parallel to the leg mechanism 2. At this time, the output shaft of the servo three 14 is used to drive the connecting rod 2 13 to rotate counterclockwise by a small angle α, so that the suction cup 1 is attached to the wall, and the vacuum solenoid valve 17 of the leg mechanism 1 is controlled to be powered off, and the suction cup 1 is vacuumed and adsorbed to the wall. The leg mechanism 1 is fixed, and the path change movement of the flip wall-climbing robot can be completed.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on", "installed on", "fixed on" or "set on" another element, it can be directly on the other element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0059] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A wall-climbing robot based on an epicyclic gear train, comprising a leg mechanism 1 and a leg mechanism 2, characterized in that: A large gear 1 (12) is fixedly mounted on the top of the leg mechanism 1, a large gear 2 (15) is fixedly mounted on the top of the leg mechanism 2, a steering gear 3 (14) is mounted at the center of the large gear 2 (15), an output end of the steering gear 3 (14) passes through the large gear 2 (15) and is fixedly connected to a connecting rod 2 (13), the other end of the connecting rod 2 (13) is rotatably connected to the center of the large gear 1 (12), so as to enable the large gear 1 (12) to rotate around the large gear 2 (15) when it revolves; The leg mechanism 1 includes an adjustment component, a telescopic component and an adsorption component 1, the adjustment component is used to achieve angle transformation of the leg mechanism 1, and the telescopic adjustment is used to achieve overall telescopic transformation of the leg mechanism 1; The second leg mechanism includes a vacuum control component, a rotating component and a second adsorption component, wherein the vacuum control component is used to unlock and fix the first adsorption component and the second adsorption component, and the rotating component is used to realize the rotation adjustment of the second adsorption component; The large gear 1 (12) and the large gear 2 (15) are meshed with each other, and a steering gear connecting piece 2 (24) is installed on the side wall of the large gear 2 (15), and the steering gear 3 (14) is installed on the large gear 2 (15) through the steering gear connecting piece 2 (24); The telescopic assembly comprises a leg connecting member (10) fixedly connected to a large gear (12), a leg telescopic member being slidably connected inside the leg connecting member (10), a rack (11) being fixedly mounted on the leg telescopic member by means of bolts, a telescopic driving gear (8) being meshingly connected to one side of the rack (11), and the telescopic driving gear (8) being rotatably connected to the inner wall of the leg connecting member (10).

2. The wall-climbing robot based on an epicyclic gear train according to claim 1, characterized in that: A servo motor 2 (9) is fixedly connected to the side wall of the leg connecting member 1 (10), and an output end of the servo motor 2 (9) is fixedly connected to the telescopic driving gear (8).

3. The wall-climbing robot based on an epicyclic gear train according to claim 2, characterized in that: A through hole matching the rack (11) is provided on the side wall of the leg connecting piece.

4. The wall-climbing robot based on an epicyclic gear train according to claim 3, characterized in that: The adjustment assembly comprises a pinion gear 2 (4) fixed by bolts below the leg telescopic member, a pinion gear 1 (3) meshingly connected below the pinion gear 2 (4), a steering gear 1 (6) installed at the center of the pinion gear 1 (3), a connecting rod 1 (5) fixedly connected at the output end of the steering gear 1 (6), one end of the connecting rod 1 (5) rotatably connected to the center of the pinion gear 1 (3), and the other end of the connecting rod 1 (5) rotatably connected to the center of the pinion gear 2 (4), when the steering gear 1 (6) drives the connecting rod 1 (5) to rotate, the pinion gear 1 (3) will revolve and rotate around the pinion gear 2 (4); A steering gear connecting piece 1 (23) is installed on the side wall of the pinion gear 1 (3) by means of bolts, and the steering gear 1 (6) is installed on the pinion gear 1 (3) by means of the steering gear connecting piece 1 (23).

5. The wall-climbing robot based on an epicyclic gear train according to claim 4, characterized in that: The adsorption assembly 1 comprises a foot shell 1 (2) fixedly mounted on a pinion 1 (3) by means of bolts, and a suction cup 1 (1) is coaxially mounted inside the foot shell 1 (2).

6. The wall-climbing robot based on an epicyclic gear train according to claim 5, characterized in that: The rotating assembly comprises a second leg connecting member (18) fixed on a second large gear (15), a fourth steering gear (19) being installed below the second leg connecting member (18), a leg rotating member (20) being installed at the output end of the fourth steering gear (19), and the bottom of the leg rotating member (20) being connected to the second adsorption assembly.

7. The wall-climbing robot based on an epicyclic gear train according to claim 6, characterized in that: The second adsorption assembly comprises a second foot shell (21) mounted on the bottom of the leg rotating member (20) by means of bolts, and a second suction cup (22) is coaxially mounted inside the second foot shell (21).

8. The wall-climbing robot based on an epicyclic gear train according to claim 6, characterized in that: The vacuum control assembly comprises a vacuum air pump (16) and two solenoid valves (17) fixedly connected to the side wall of the second leg connecting member (18), and the air pump is connected to the first suction cup (1) and the second suction cup (22) through a pipeline.

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